consistent naming scheme for SfM_Data

examples/CreateSFMExampleData.cpp

@@ -31,7 +31,7 @@ void createExampleBALFile(const string& filename, const vector<Point3>& P,
         Cal3Bundler()) {
 
   // Class that will gather all data
-  SfM_data data;
+  SfM_Data data;
 
   // Create two cameras
   Rot3 aRb = Rot3::Yaw(M_PI_2);

examples/SFMExampleExpressions_bal.cpp

@@ -49,7 +49,7 @@ int main(int argc, char* argv[]) {
     filename = string(argv[1]);
 
   // Load the SfM data from file
-  SfM_data mydata;
+  SfM_Data mydata;
   readBAL(filename, mydata);
   cout
       << boost::format("read %1% tracks on %2% cameras\n")

examples/SFMExample_bal.cpp

@@ -42,7 +42,7 @@ int main (int argc, char* argv[]) {
   if (argc>1) filename = string(argv[1]);
 
   // Load the SfM data from file
-  SfM_data mydata;
+  SfM_Data mydata;
   readBAL(filename, mydata);
   cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras();
 

examples/SFMExample_bal_COLAMD_METIS.cpp

@@ -47,7 +47,7 @@ int main (int argc, char* argv[]) {
   if (argc>1) filename = string(argv[1]);
 
   // Load the SfM data from file
-  SfM_data mydata;
+  SfM_Data mydata;
   readBAL(filename, mydata);
   cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras();
 

gtsam.h

@@ -2730,7 +2730,7 @@ class SfM_Track {
   pair<size_t, size_t> SIFT_index(size_t idx) const;
 };
 
-class SfM_data {
+class SfM_Data {
   size_t number_cameras() const;
   size_t number_tracks() const;
   //TODO(Varun) Need to fix issue #237 first before this can work

gtsam/slam/dataset.cpp

@@ -646,7 +646,7 @@ Pose3 gtsam2openGL(const Pose3& PoseGTSAM) {
 }
 
 /* ************************************************************************* */
-bool readBundler(const string& filename, SfM_data &data) {
+bool readBundler(const string& filename, SfM_Data &data) {
   // Load the data file
   ifstream is(filename.c_str(), ifstream::in);
   if (!is) {
@@ -733,7 +733,7 @@ bool readBundler(const string& filename, SfM_data &data) {
 }
 
 /* ************************************************************************* */
-bool readBAL(const string& filename, SfM_data &data) {
+bool readBAL(const string& filename, SfM_Data &data) {
   // Load the data file
   ifstream is(filename.c_str(), ifstream::in);
   if (!is) {
@@ -793,7 +793,7 @@ bool readBAL(const string& filename, SfM_data &data) {
 }
 
 /* ************************************************************************* */
-bool writeBAL(const string& filename, SfM_data &data) {
+bool writeBAL(const string& filename, SfM_Data &data) {
   // Open the output file
   ofstream os;
   os.open(filename.c_str());
@@ -866,12 +866,12 @@ bool writeBAL(const string& filename, SfM_data &data) {
   return true;
 }
 
-bool writeBALfromValues(const string& filename, const SfM_data &data,
+bool writeBALfromValues(const string& filename, const SfM_Data &data,
     Values& values) {
   using Camera = PinholeCamera<Cal3Bundler>;
-  SfM_data dataValues = data;
+  SfM_Data dataValues = data;
 
-  // Store poses or cameras in SfM_data
+  // Store poses or cameras in SfM_Data
   size_t nrPoses = values.count<Pose3>();
   if (nrPoses == dataValues.number_cameras()) { // we only estimated camera poses
     for (size_t i = 0; i < dataValues.number_cameras(); i++) { // for each camera
@@ -899,7 +899,7 @@ bool writeBALfromValues(const string& filename, const SfM_data &data,
     }
   }
 
-  // Store 3D points in SfM_data
+  // Store 3D points in SfM_Data
   size_t nrPoints = values.count<Point3>(), nrTracks = dataValues.number_tracks();
   if (nrPoints != nrTracks) {
     cout
@@ -921,11 +921,11 @@ bool writeBALfromValues(const string& filename, const SfM_data &data,
     }
   }
 
-  // Write SfM_data to file
+  // Write SfM_Data to file
   return writeBAL(filename, dataValues);
 }
 
-Values initialCamerasEstimate(const SfM_data& db) {
+Values initialCamerasEstimate(const SfM_Data& db) {
   Values initial;
   size_t i = 0; // NO POINTS:  j = 0;
   for(const SfM_Camera& camera: db.cameras)
@@ -933,7 +933,7 @@ Values initialCamerasEstimate(const SfM_data& db) {
   return initial;
 }
 
-Values initialCamerasAndPointsEstimate(const SfM_data& db) {
+Values initialCamerasAndPointsEstimate(const SfM_Data& db) {
   Values initial;
   size_t i = 0, j = 0;
   for(const SfM_Camera& camera: db.cameras)

gtsam/slam/dataset.h

@@ -197,7 +197,7 @@ struct SfM_Track {
 typedef PinholeCamera<Cal3Bundler> SfM_Camera;
 
 /// Define the structure for SfM data
-struct SfM_data {
+struct SfM_Data {
   std::vector<SfM_Camera> cameras; ///< Set of cameras
   std::vector<SfM_Track> tracks; ///< Sparse set of points
   /// The number of camera poses
@@ -218,36 +218,39 @@ struct SfM_data {
   }
 };
 
+/// Alias for backwards compatibility
+typedef SfM_Data SfM_data;
+
 /**
  * @brief This function parses a bundler output file and stores the data into a
- * SfM_data structure
+ * SfM_Data structure
  * @param filename The name of the bundler file
  * @param data SfM structure where the data is stored
  * @return true if the parsing was successful, false otherwise
  */
-GTSAM_EXPORT bool readBundler(const std::string& filename, SfM_data &data);
+GTSAM_EXPORT bool readBundler(const std::string& filename, SfM_Data &data);
 
 /**
  * @brief This function parses a "Bundle Adjustment in the Large" (BAL) file and stores the data into a
- * SfM_data structure
+ * SfM_Data structure
  * @param filename The name of the BAL file
  * @param data SfM structure where the data is stored
  * @return true if the parsing was successful, false otherwise
  */
-GTSAM_EXPORT bool readBAL(const std::string& filename, SfM_data &data);
+GTSAM_EXPORT bool readBAL(const std::string& filename, SfM_Data &data);
 
 /**
  * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a
- * SfM_data structure
+ * SfM_Data structure
  * @param filename The name of the BAL file to write
  * @param data SfM structure where the data is stored
  * @return true if the parsing was successful, false otherwise
  */
-GTSAM_EXPORT bool writeBAL(const std::string& filename, SfM_data &data);
+GTSAM_EXPORT bool writeBAL(const std::string& filename, SfM_Data &data);
 
 /**
  * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a
- * SfM_data structure and a value structure (measurements are the same as the SfM input data,
+ * SfM_Data structure and a value structure (measurements are the same as the SfM input data,
  * while camera poses and values are read from Values)
  * @param filename The name of the BAL file to write
  * @param data SfM structure where the data is stored
@@ -257,7 +260,7 @@ GTSAM_EXPORT bool writeBAL(const std::string& filename, SfM_data &data);
  * @return true if the parsing was successful, false otherwise
  */
 GTSAM_EXPORT bool writeBALfromValues(const std::string& filename,
-    const SfM_data &data, Values& values);
+    const SfM_Data &data, Values& values);
 
 /**
  * @brief This function converts an openGL camera pose to an GTSAM camera pose
@@ -288,16 +291,16 @@ GTSAM_EXPORT Pose3 gtsam2openGL(const Pose3& PoseGTSAM);
 
 /**
  * @brief This function creates initial values for cameras from db
- * @param SfM_data
+ * @param SfM_Data
  * @return Values
  */
-GTSAM_EXPORT Values initialCamerasEstimate(const SfM_data& db);
+GTSAM_EXPORT Values initialCamerasEstimate(const SfM_Data& db);
 
 /**
  * @brief This function creates initial values for cameras and points from db
- * @param SfM_data
+ * @param SfM_Data
  * @return Values
  */
-GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfM_data& db);
+GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfM_Data& db);
 
 } // namespace gtsam

gtsam/slam/tests/testDataset.cpp

@@ -106,7 +106,7 @@ TEST( dataSet, Balbianello)
 {
   ///< The structure where we will save the SfM data
   const string filename = findExampleDataFile("Balbianello");
-  SfM_data mydata;
+  SfM_Data mydata;
   CHECK(readBundler(filename, mydata));
 
   // Check number of things
@@ -389,7 +389,7 @@ TEST( dataSet, readBAL_Dubrovnik)
 {
   ///< The structure where we will save the SfM data
   const string filename = findExampleDataFile("dubrovnik-3-7-pre");
-  SfM_data mydata;
+  SfM_Data mydata;
   CHECK(readBAL(filename, mydata));
 
   // Check number of things
@@ -444,7 +444,7 @@ TEST( dataSet, writeBAL_Dubrovnik)
 {
   ///< Read a file using the unit tested readBAL
   const string filenameToRead = findExampleDataFile("dubrovnik-3-7-pre");
-  SfM_data readData;
+  SfM_Data readData;
   readBAL(filenameToRead, readData);
 
   // Write readData to file filenameToWrite
@@ -452,7 +452,7 @@ TEST( dataSet, writeBAL_Dubrovnik)
   CHECK(writeBAL(filenameToWrite, readData));
 
   // Read what we wrote
-  SfM_data writtenData;
+  SfM_Data writtenData;
   CHECK(readBAL(filenameToWrite, writtenData));
 
   // Check that what we read is the same as what we wrote
@@ -492,7 +492,7 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
 
   ///< Read a file using the unit tested readBAL
   const string filenameToRead = findExampleDataFile("dubrovnik-3-7-pre");
-  SfM_data readData;
+  SfM_Data readData;
   readBAL(filenameToRead, readData);
 
   Pose3 poseChange = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.3,0.1,0.3));
@@ -514,7 +514,7 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
   writeBALfromValues(filenameToWrite, readData, value);
 
   // Read the file we wrote
-  SfM_data writtenData;
+  SfM_Data writtenData;
   readBAL(filenameToWrite, writtenData);
 
   // Check that the reprojection errors are the same and the poses are correct

gtsam/slam/tests/testEssentialMatrixFactor.cpp

@@ -34,7 +34,7 @@ gtsam::Rot3 cRb = gtsam::Rot3(bX, bZ, -bY).inverse();
 namespace example1 {
 
 const string filename = findExampleDataFile("5pointExample1.txt");
-SfM_data data;
+SfM_Data data;
 bool readOK = readBAL(filename, data);
 Rot3 c1Rc2 = data.cameras[1].pose().rotation();
 Point3 c1Tc2 = data.cameras[1].pose().translation();
@@ -357,7 +357,7 @@ TEST (EssentialMatrixFactor3, minimization) {
 namespace example2 {
 
 const string filename = findExampleDataFile("5pointExample2.txt");
-SfM_data data;
+SfM_Data data;
 bool readOK = readBAL(filename, data);
 Rot3 aRb = data.cameras[1].pose().rotation();
 Point3 aTb = data.cameras[1].pose().translation();

tests/testGeneralSFMFactorB.cpp

@@ -42,7 +42,7 @@ using symbol_shorthand::P;
 /* ************************************************************************* */
 TEST(PinholeCamera, BAL) {
   string filename = findExampleDataFile("dubrovnik-3-7-pre");
-  SfM_data db;
+  SfM_Data db;
   bool success = readBAL(filename, db);
   if (!success) throw runtime_error("Could not access file!");
 

timing/timeSFMBAL.cpp

@@ -32,7 +32,7 @@ typedef GeneralSFMFactor<Camera, Point3> SfmFactor;
 
 int main(int argc, char* argv[]) {
   // parse options and read BAL file
-  SfM_data db = preamble(argc, argv);
+  SfM_Data db = preamble(argc, argv);
 
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;

timing/timeSFMBAL.h

@@ -38,7 +38,7 @@ static bool gUseSchur = true;
 static SharedNoiseModel gNoiseModel = noiseModel::Unit::Create(2);
 
 // parse options and read BAL file
-SfM_data preamble(int argc, char* argv[]) {
+SfM_Data preamble(int argc, char* argv[]) {
   // primitive argument parsing:
   if (argc > 2) {
     if (strcmp(argv[1], "--colamd"))
@@ -48,7 +48,7 @@ SfM_data preamble(int argc, char* argv[]) {
   }
 
   // Load BAL file
-  SfM_data db;
+  SfM_Data db;
   string filename;
   if (argc > 1)
     filename = argv[argc - 1];
@@ -60,7 +60,7 @@ SfM_data preamble(int argc, char* argv[]) {
 }
 
 // Create ordering and optimize
-int optimize(const SfM_data& db, const NonlinearFactorGraph& graph,
+int optimize(const SfM_Data& db, const NonlinearFactorGraph& graph,
              const Values& initial, bool separateCalibration = false) {
   using symbol_shorthand::P;
 

timing/timeSFMBALautodiff.cpp

@@ -38,7 +38,7 @@ typedef PinholeCamera<Cal3Bundler> Camera;
 
 int main(int argc, char* argv[]) {
   // parse options and read BAL file
-  SfM_data db = preamble(argc, argv);
+  SfM_Data db = preamble(argc, argv);
 
   AdaptAutoDiff<SnavelyProjection, 2, 9, 3> snavely;
 

timing/timeSFMBALcamTnav.cpp

@@ -29,7 +29,7 @@ using namespace gtsam;
 
 int main(int argc, char* argv[]) {
   // parse options and read BAL file
-  SfM_data db = preamble(argc, argv);
+  SfM_Data db = preamble(argc, argv);
 
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;

timing/timeSFMBALnavTcam.cpp

@@ -29,7 +29,7 @@ using namespace gtsam;
 
 int main(int argc, char* argv[]) {
   // parse options and read BAL file
-  SfM_data db = preamble(argc, argv);
+  SfM_Data db = preamble(argc, argv);
 
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;

timing/timeSFMBALsmart.cpp

@@ -31,7 +31,7 @@ typedef SmartProjectionFactor<Camera> SfmFactor;
 
 int main(int argc, char* argv[]) {
   // parse options and read BAL file
-  SfM_data db = preamble(argc, argv);
+  SfM_Data db = preamble(argc, argv);
 
   // Add smart factors to graph
   NonlinearFactorGraph graph;